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Robust Mobility and Dexterous Manipulation in Disaster Response by Fullbody Telepresence in a Centaur-like Robot

Obiettivo

Disaster scenarios, like the Fukushima nuclear accident, clearly show that the capabilities of today's disaster response robots are not sufficient for providing the needed support to rescue workers. The CENTAURO project aims at development of a human-robot symbiotic system where a human operator is telepresent with its whole body in a Centaur-like robot, which is capable of robust locomotion and dexterous manipulation in the rough terrain and austere conditions characteristic of disasters. The CENTAURO robot will consist of a four-legged basis and an anthropomorphic upper body and will be driven by lightweight, compliant actuators. It will be able to navigate in affected man-made environments, including the inside of buildings and stairs, which are cluttered with debris and partially collapsed. The Centauro system will be capable of using unmodified human tools for solving complex bimanual manipulation tasks, such as connecting a hose or opening a valve, in order to relieve the situation. A human operator will control the robot intuitively using a full-body telepresence suit that provides visual, auditory, and upper-body haptic feedback. Rich sensors will provide the necessary situation awareness.
Robot percepts and suggested actions will be displayed to the operator with augmented reality techniques. For routine manipulation and navigation tasks, autonomous robot skills will be developed. This will allow for taking the operator partially out of the control loop, which will be necessary to cope with communication latencies and bandwidth limitations and to reduce the operator workload.
A series of increasingly complex tests with corresponding evaluation criteria will be devised from end-user requirements to systematically benchmark the capabilities of the developed disaster response system.

Invito a presentare proposte

H2020-ICT-2014-1
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Meccanismo di finanziamento

RIA - Research and Innovation action

Coordinatore

RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN
Indirizzo
Regina Pacis Weg 3
53113 Bonn
Germania
Tipo di attività
Higher or Secondary Education Establishments
Contributo UE
€ 784 625

Partecipanti (7)

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italia
Contributo UE
€ 724 125
Indirizzo
Via Morego 30
16163 Genova
Tipo di attività
Research Organisations
SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S ANNA
Italia
Contributo UE
€ 601 875
Indirizzo
Piazza Martiri Della Liberta 33
56127 Pisa
Tipo di attività
Higher or Secondary Education Establishments
KUNGLIGA TEKNISKA HOEGSKOLAN
Svezia
Contributo UE
€ 487 625
Indirizzo
Brinellvagen 8
100 44 Stockholm
Tipo di attività
Higher or Secondary Education Establishments
LINKOPINGS UNIVERSITET
Svezia
Contributo UE
€ 467 500
Indirizzo
Campus Valla
581 83 Linkoping
Tipo di attività
Higher or Secondary Education Establishments
RHEINISCH-WESTFAELISCHE TECHNISCHE HOCHSCHULE AACHEN
Germania
Contributo UE
€ 504 125
Indirizzo
Templergraben 55
52062 Aachen
Tipo di attività
Higher or Secondary Education Establishments
PROGENOX GMBH
Germania
Contributo UE
€ 383 750
Indirizzo
Fronau 13
83458 Schneizlreuth
Tipo di attività
Private for-profit entities (excluding Higher or Secondary Education Establishments)
KERNTECHNISCHE HILFSDIENST GMBH
Germania
Contributo UE
€ 171 290
Indirizzo
Am Schrocker Tor 1
76344 Eggenstein Leopoldshafen
Tipo di attività
Private for-profit entities (excluding Higher or Secondary Education Establishments)